Lower limb mechanism and humanoid robot

Abstract

A lower limb mechanism and a humanoid robot. The lower limb mechanism includes a first mounting shell, a second mounting shell, a support member, a first driving member, and a second driving member. The outer surface of the first mounting shell is a smooth curved surface, the outer surface of the second mounting shell is a smooth curved surface, the second mounting shell is smoothly connected to the first mounting shell in a smooth transition, and the second mounting shell and the first mounting shell enclose a receiving space; the support member is rotatably connected to one end of the first mounting shell; the first driving member is received in the receiving space, and the first driving member is used to drive the support member to rotate relative to the first mounting shell about a first axis; the second driving member is received in the receiving space, and the second driving member is used to drive the support member to rotate relative to the first mounting shell about a second axis, and the second axis intersects the first axis. For the lower limb mechanism provided in this application, the outer surfaces of both the first mounting shell and the second mounting shell are smooth curved surfaces, and the first driving member and the second driving member are received in the receiving space, which can imitate the shape of the human lower limb and has a good anthropomorphic effect.

Description

Technical Field

[0001] This application relates to the technical field of humanoid robots, and particularly relates to a lower limb mechanism and a humanoid robot. Background Art

[0002] A humanoid robot is a robot that imitates the appearance and behavior of humans, and it combines technologies in multiple fields such as machinery, electronics, computers, and artificial intelligence. The design goal of a humanoid robot is to achieve movement capabilities and interaction methods similar to those of humans, so as to replace or assist humans in completing work in various scenarios. Similar to the human body, the structure of a humanoid robot includes a torso, a head, upper limbs, lower limbs, etc. The lower limbs mainly include thighs, calves, feet, etc. The humanoid robot is provided with a driving structure to drive the foot and the calf to rotate relative to each other to realize the function of the ankle joint.

[0003] In related technologies, the lower limbs of a humanoid robot generally include several structural members and driving members. The driving members are generally arranged outside the structural members, and additional appearance members are required to cover them, resulting in large size differences in different parts of the lower limb structure of the existing humanoid robot and poor anthropomorphic effect. Summary of the Invention

[0004] The purpose of this application is to provide a lower limb mechanism and a humanoid robot to solve the problem of poor anthropomorphic effect of the lower limb mechanism.

[0005] To achieve the purpose of this application, the following technical solutions are provided in this application:

[0006] In a first aspect, this application provides a lower limb mechanism for a humanoid robot, and the lower limb mechanism includes:

[0007] A first mounting shell, the outer surface of the first mounting shell is a smooth curved surface;

[0008] A second mounting shell, the outer surface of the second mounting shell is a smooth curved surface, the second mounting shell is smoothly and transitionally connected to the first mounting shell, and the second mounting shell and the first mounting shell enclose an accommodation space;

[0009] A support member, rotatably connected to one end of the first mounting shell;

[0010] A first driving member, housed in the accommodation space, and the first driving member is used to drive the support member to rotate relative to the first mounting shell around a first axis;

[0011] A second driving member, housed in the accommodation space, and the second driving member is used to drive the support member to rotate relative to the first mounting shell around a second axis, and the second axis intersects the first axis.

[0012] The lower limb mechanism of the embodiment of the present application has a support member rotatably connected to one end of a first mounting shell. The first mounting shell serves as a load-bearing and moving component of the lower limb mechanism. A first driving member is used to drive the support member to rotate relative to the first mounting shell about a first axis to achieve a certain specific movement of the lower limb (such as swinging back and forth); a second driving member is used to drive the support member to rotate relative to the first mounting shell about a second axis to achieve another specific movement of the lower limb (such as swinging left and right or rotating) to realize the ankle joint function. The first mounting shell and the second mounting shell are smoothly transitionally connected and jointly enclose a receiving space for housing key components such as the first driving member and the second driving member, making the structure of the lower limb mechanism more compact and having a higher space utilization rate. That is, the first mounting shell and the second mounting shell serve both as the appearance parts of the lower limb mechanism and as structural parts connected to the support member, and at the same time can house the first driving member and the second driving member. After the first driving member and the second driving member are housed in the receiving space, the outer shapes of the first mounting shell and the second mounting shell form the outer shape of the lower limb mechanism, and the outer surfaces of the first mounting shell and the second mounting shell are both smooth curved surfaces, which are not only beautiful but also can imitate the outer shape of the human lower limb with a good anthropomorphic effect.

[0013] In one embodiment, the front-back direction of the humanoid robot is the first direction, the left-right direction of the humanoid robot is the second direction, and the height direction of the humanoid robot is the third direction;

[0014] Both the first driving member and the second driving member are fixed to the first mounting shell. The first driving member extends along the first direction, the second driving member extends along the second direction, and the first driving member and the second driving member are arranged in sequence in the third direction.

[0015] Fixing both the first driving member and the second driving member to the first mounting shell means that the first mounting shell serves as the mounting carrier for the first driving member and the second driving member, and the first mounting shell and the second mounting shell can house the first driving member and the second driving member after being combined, simplifying the overall structure of the lower limb mechanism. And the first driving member and the second driving member are respectively extended along the front-back direction (the first direction) and the left-right direction (the second direction) of the humanoid robot and are arranged in sequence in the height direction (the third direction), and this layout makes the structure of the lower limb mechanism more compact.

[0016] In one embodiment, the lower limb mechanism further includes a first transmission component. A mounting seat protrudes from the inner wall of the first mounting shell. A fixing ring is sleeved on the first driving member, and the fixing ring is connected to the mounting seat. One end of the first transmission component is rotatably connected to the support member, and the other end of the first transmission component is inserted into the fixing ring and connected to the first driving member.

[0017] In this way, by providing a mounting seat on the inner wall of the first mounting shell and connecting the fixing ring to the mounting seat, this design enhances the stability of the power transmission between the first driving member and the first transmission member. It ensures that the first driving member does not displace or shake during operation, thereby improving the overall stability and reliability of the lower limb mechanism.

[0018] In one embodiment, the second mounting shell is provided with a through hole that communicates the interior of the accommodating space with the exterior of the accommodating space.

[0019] The first transmission member includes a first crank and a first connecting rod. The first crank is received in the accommodating space. One end of the first crank is connected to the first driving member, the other end of the first crank is rotatably connected to one end of the first connecting rod, and the other end of the first connecting rod passes through the through hole and is rotatably connected to the support member.

[0020] In this way, the first transmission member effectively transmits the power of the first driving member to the support member through the combination of the first crank and the first connecting rod, realizing the rotation of the support member relative to the first mounting shell about the first axis. Among them, the first crank is received in the accommodating space to make the structure of the lower limb mechanism more compact. By providing a through hole in the second mounting shell, the first connecting rod can directly pass through and be connected to the support member, which optimizes the transmission path and improves the transmission efficiency.

[0021] In one embodiment, the fixing ring is sleeved on the first crank. A first limiting portion protrudes from a side surface of the first crank close to the fixing ring. A limiting groove is provided on a side surface of the fixing ring close to the first crank. The first limiting portion is disposed in the limiting groove, and the limiting groove is used to abut against the first limiting portion to limit the rotation range of the first crank.

[0022] In this way, by providing the first limiting portion on the first crank, the first limiting portion can cooperate with the limiting groove on the fixing ring, thereby controlling the rotation range of the first crank, which is crucial for ensuring the stable transmission performance of the lower limb mechanism during movement and avoiding damage caused by excessive rotation.

[0023] In one embodiment, the lower limb mechanism further includes a second transmission member. The first mounting shell is provided with a mounting hole that communicates the interior of the accommodating space with the exterior of the accommodating space. The second driving member is mounted in the mounting hole. One end of the second transmission member is rotatably connected to the support member, and the other end of the second transmission member is inserted into the mounting hole and connected to the second driving member.

[0024] In this way, through the connection of the second transmission component with the second driving member and the support member, the power of the second driving member is transmitted to the support member, enabling the support member to rotate relative to the first mounting shell around the second axis, thus achieving more complex and flexible movements. An installation hole is provided on the first mounting shell to provide an installation space for the second driving member and to be able to position the installation position of the first driving member. At the same time, the installation hole enables the first transmission component to extend out of the accommodation space to be connected to the support member to achieve power transmission.

[0025] In one embodiment, the lower limb mechanism further includes a cover body, and the cover body is connected to the first mounting shell to enclose a first accommodation groove;

[0026] The second transmission component includes a second crank and a second connecting rod. At least part of the second crank is received in the first accommodation groove. One end of the second crank is connected to the second driving member, and the other end of the second crank extends out of the first accommodation groove and is rotatably connected to one end of the second connecting rod. The other end of the second connecting rod is rotatably connected to the support member.

[0027] In this way, through the cooperation of the cover body and the first mounting shell to form the first accommodation groove, the first accommodation groove can accommodate at least part of the second crank, reducing the exposed area of the second crank and improving the aesthetic appearance of the lower limb mechanism, making the anthropomorphic effect of the lower limb mechanism better. The combination of the second crank and the second connecting rod realizes effective power transmission. The design of the first accommodation groove makes the installation and maintenance of the second transmission component more convenient. By opening or removing the cover body, the second transmission component can be easily accessed for necessary maintenance or replacement work.

[0028] In one embodiment, a second limiting portion is provided on a side surface of the first mounting shell away from the second mounting shell, and the second limiting portion is located in the first accommodation groove. The second limiting portion is used to abut against the second crank to limit the rotation range of the second crank.

[0029] In this way, by providing the second limiting portion on the first mounting shell and the abutting relationship between the second limiting portion and the second crank, the rotation range of the second crank can be controlled. This helps to prevent the second transmission component from rotating excessively during movement, thus avoiding structural damage or movement out of control caused by an overly large rotation range.

[0030] In one embodiment, the front-back direction of the humanoid robot is the first direction, and the left-right direction of the humanoid robot is the second direction. The cover body is connected to the first mounting shell to enclose a second accommodation groove;

[0031] At least part of the projection of the second connecting rod in the first direction is located in the second accommodation groove;

[0032] The projection of the end of the second crank connected to the second connecting rod in the second direction is located within the second receiving groove.

[0033] In this way, after connecting the cover body to the first mounting shell, a second receiving groove is formed, and the projection of the end of the second connecting rod and the second crank connected thereto is restricted therein, making the structural layout of the lower limb mechanism more compact. This helps to reduce the volume and weight of the mechanism and improve the overall structural efficiency. The second receiving groove provides a more stable and controllable movement environment for the second connecting rod and the second crank. By restricting their movement range in a specific direction, structural damage or performance degradation caused by out-of-control movement can be effectively prevented.

[0034] In one embodiment, the front-rear direction of the humanoid robot is the first direction, and the left-right direction of the humanoid robot is the second direction;

[0035] The support member includes a first bracket and a second bracket arranged in sequence along the first direction. The first mounting shell is rotatably connected to the first bracket through a first rotating shaft and a second rotating shaft. The first rotating shaft is perpendicular to the second rotating shaft. The second rotating shaft extends along the second direction. The axis of the first rotating shaft is coaxial with the first axis, and the axis of the second rotating shaft is coaxial with the second axis. The first connecting rod is rotatably connected to the second rotating shaft;

[0036] A third rotating shaft is provided on the second bracket. The third rotating shaft extends along the second direction. The second connecting rod is rotatably connected to the third rotating shaft.

[0037] In this way, the first mounting shell is rotatably connected to the first bracket through the first rotating shaft and the second rotating shaft, enabling the support member to rotate relative to the first mounting shell around the first rotating shaft and the second rotating shaft. When the lower limb mechanism is used for a humanoid robot, ankle joint actions such as forward tilt, backward tilt, left tilt, and right tilt of the foot relative to the calf can be achieved. The second rotating shaft extends along the second direction and is rotatably connected to the first connecting rod, which enables the first driving member to directly drive the support member to rotate around the first rotating shaft; and the second connecting rod is rotatably connected to the third rotating shaft, enabling the second driving member to directly drive the support member to rotate around the second rotating shaft, so that the rotation of the support member relative to the first mounting shell around the first rotating shaft and the second rotating shaft can be independently controlled, thereby reducing the complexity of the overall control strategy of the lower limb mechanism. The control logics of the first driving mechanism and the second driving mechanism can be designed and optimized relatively independently, improving the decoupling of the control system of the lower limb mechanism.

[0038] In one embodiment, in the front projection in the first direction, the end of the second connecting rod connected to the third rotating shaft coincides with the first rotating shaft.

[0039] In this way, by designing the connection point between the second link and the third rotating shaft on the orthographic projection of the first rotating shaft, when the second driving member drives the support member to rotate around the second rotating shaft, the support member is more balanced in force and has good rotational stability.

[0040] In one implementation, the first mounting shell includes a first shell and a second shell that are detachably connected. The first rotating shaft is located between the first shell and the second shell. One end of the first rotating shaft is rotatably connected to the first shell, and the other end of the first rotating shaft is rotatably connected to the second shell.

[0041] In this way, by designing the first mounting shell as a first shell and a second shell that are detachably connected, and connecting the two ends of the first rotating shaft to the first shell and the second shell respectively, the installation and maintenance of the lower limb mechanism become more convenient. And by arranging the first rotating shaft between the first shell and the second shell, that is, the first rotating shaft can be accommodated by the first shell and the second shell, the structure of the entire lower limb mechanism is more compact, further improving the aesthetics of the lower limb mechanism.

[0042] In a second aspect, the present application also provides a humanoid robot, including the lower limb mechanism according to any one of the various implementations in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0044] Figure 1 Is a perspective view of the lower limb mechanism according to an implementation of the present application;

[0045] Figure 2 Is a partial structure perspective view of the lower limb mechanism according to an implementation of the present application;

[0046] Figure 3 Is Figure 2 An exploded view of;

[0047] Figure 4 Is Figure 2 A side view of;

[0048] Figure 5 Is Figure 4 A sectional view taken along line A-A of;

[0049] Figure 6 Is a partial structure exploded view of the lower limb mechanism according to an implementation of the present application;

[0050] Figure 7 Stereogram of the first driving member, fixed ring and first crank of an embodiment of the present application;

[0051] Figure 8 Front view of the fixed ring of an embodiment of the present application;

[0052] Figure 9 Stereogram of the first mounting shell of an embodiment of the present application;

[0053] Figure 10 Stereogram of the first mounting shell, second mounting shell and cover body of an embodiment of the present application;

[0054] Figure 11 is Figure 2 front view of;

[0055] Figure 12 Exploded view of the third mounting shell of an embodiment of the present application.

[0056] Explanation of reference numerals:

[0057] 100, first mounting shell; 110, accommodation space; 120, mounting base; 121, first mounting portion; 122, second mounting portion; 130, mounting hole; 140, second limiting portion; 150, first housing; 151, sixth wire passing hole; 152, wire routing groove; 153, first baffle; 154, first connecting portion; 160, second housing; 200, second mounting shell; 210, through hole; 220, second baffle; 230, second connecting portion; 300, third mounting shell; 310, third housing; 311, third accommodation groove; 312, second wire passing hole; 313, third wire passing hole; 314, fourth wire passing hole; 315, fifth wire passing hole; 320, fourth housing; 330, first wire passing hole; 400, support member; 410, first bracket; 411, first rotating shaft; 412, second rotating shaft; 420, second bracket; 421, third rotating shaft; 500, first driving member; 510, fixed ring; 511, limiting groove; 511a, first limiting plane; 511b, second limiting plane; 512, first fixing portion; 513, second fixing portion; 600, second driving member; 700, first transmission member; 710, first crank; 711, first limiting portion; 720, first connecting rod; 800, second transmission member; 810, second crank; 820, second connecting rod; 900, cover body; 910, first accommodation groove; 920, second accommodation groove; A, first axis; B, second axis; X, first direction; Y, second direction; Z, third direction. Detailed implementation manners

[0058] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0059] It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there may also be an intermediate component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component at the same time.

[0060] Unless otherwise defined, all technical and scientific terms used in the present application have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs. The terms used in the present application in the specification are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The term "and / or" used in the present application includes any and all combinations of one or more of the related listed items.

[0061] The following will describe in detail some embodiments of the present application with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0062] Reference Figures 1 to 9 , the embodiments of the present application provide a humanoid robot, including the lower limb mechanism in the embodiments of the present application.

[0063] The humanoid robot in the embodiments of the present application can imitate the human shape and movement postures, and may include a head mechanism (not shown), a torso mechanism (not shown), an upper limb mechanism (not shown), a waist and hip mechanism (not shown), and a lower limb mechanism, etc. The lower limb mechanism may include a first mounting shell 100, a second mounting shell 200, a third mounting shell 300, and a support member 400. The first mounting shell 100 and the second mounting shell 200 can serve as the calf part of the humanoid robot, the third mounting shell 300 can serve as the thigh part of the humanoid robot, and the support member 400 can serve as the foot part of the humanoid robot. The lower limb mechanism in the embodiments of the present application further includes a first driving member 500 and a second driving member 600. Through reasonable design, it can drive the relative rotation of the first mounting shell 100 and the support member 400 to realize the ankle joint function.

[0064] The following will introduce the lower limb mechanism in the embodiments of the present application in detail.

[0065] Reference Figure 1 , Figure 2 and Figure 3, this application provides a lower limb mechanism for a humanoid robot. It should be understood that the lower limb mechanism includes a left leg part and a right leg part, and the structures of the left leg part and the right leg part are symmetric. Therefore, only any one of the left leg part and the right leg part will be described in the embodiments of this application.

[0066] The lower limb mechanism includes a first mounting shell 100, a second mounting shell 200, a third mounting shell 300, a support member 400, a first driving member 500, a second driving member 600, etc.

[0067] The first mounting shell 100 and the second mounting shell 200 of this application serve as the calf parts of the humanoid robot. The outer surfaces of the first mounting shell 100 and the second mounting shell 200 are both smooth curved surfaces, which are not only beautiful but also can imitate the shape of the human calf, and the anthropomorphic effect is good. One end of the first mounting shell 100 is rotatably connected to the support member 400. The radial dimension of the first mounting shell 100 from the end far away from the support member 400 to the end close to the support member 400 is generally a gradually decreasing structure, so as to imitate the structure that the calf of the human body gradually decreases in radial dimension from the thigh to the sole of the foot.

[0068] The third mounting shell 300 of this application serves as the thigh part of the humanoid robot. The outer surface of the third mounting shell 300 is also a smooth curved surface to imitate the shape of the human thigh. One end of the third mounting shell 300 is used for rotatably connecting to the waist and hip mechanism, and the other end is rotatably connected to the end of the first mounting shell 100 far away from the support member 400. The radial dimension of the end of the third mounting shell 300 close to the waist and hip mechanism towards the end close to the first mounting shell 100 is a gradually decreasing structure, so as to imitate the structure that the thigh of the human body gradually decreases in radial dimension from the waist and hip to the calf.

[0069] The support member 400 of this application serves as the sole part of the humanoid robot. The support member 400 is generally in the shape of a bent plate and is used to imitate the sole of the human body. The support member 400 is rotatably connected to the first mounting shell 100, and the connection part is similar to the function of the ankle joint of the human body. One side of the sole of the support member 400 is used to contact the support surface, and the first mounting shell 100 is rotatably connected to the instep side of the support member 400. The support surface can be, for example, the ground, a workbench surface, etc., without limitation.

[0070] The first driving member 500 is used to drive the support member 400 to rotate relative to the first mounting shell 100 around the first axis A to realize the left or right inclination of the support member 400. The first driving member 500 can be a motor, specifically, it can be a stepper motor, a servo motor, etc., without limitation.

[0071] The second driving member 600 is used to drive the support member 400 to rotate relative to the first mounting case 100 about a second axis B, and the second axis B intersects with the first axis A to realize the forward or backward inclination of the support member 400. The second driving member 600 can be a motor, specifically a stepper motor, a servo motor, etc., without limitation.

[0072] For example, in the lower limb mechanism of current humanoid robots, the calf is generally rod-shaped, and the driving member for driving the foot member to rotate is embedded in the calf or suspended on the calf. One end of the calf is connected to the thigh, and the other end of the calf is connected to the foot. The driving member is usually installed between the two ends of the calf, resulting in a large difference in size between the middle and the two ends of the calf. However, the radial dimension of the human calf gradually decreases from the end close to the thigh to the end close to the foot, which is quite different from the actual shape of the human calf and has a poor anthropomorphic effect.

[0073] Reference Figure 3 、 Figure 4 、 Figure 5 and Figure 6 The support member 400 is rotatably connected to one end of the first mounting case 100, and the first mounting case 100 serves as a load-bearing and moving component of the lower limb mechanism. The first driving member 500 is used to drive the support member 400 to rotate relative to the first mounting case 100 about the first axis A, and the second driving member 600 is used to drive the support member 400 to rotate relative to the first mounting case 100 about the second axis B to realize the ankle joint function. The first mounting case 100 and the second mounting case 200 are smoothly connected and jointly enclose an accommodation space 110 for accommodating key components such as the first driving member 500 and the second driving member 600, making the structure of the lower limb mechanism more compact and the space utilization rate higher. That is, the first mounting case 100 and the second mounting case 200 not only serve as the appearance parts of the lower limb mechanism, but also as the structural parts connected to the support member 400, and at the same time can accommodate the first driving member 500 and the second driving member 600, reducing the overall number of components of the lower limb mechanism and having a better anthropomorphic effect.

[0074] In the embodiments of the present application, the front-rear direction of the humanoid robot is taken as the first direction X, the left-right direction of the humanoid robot is taken as the second direction Y, and the height direction of the humanoid robot is taken as the third direction Z for illustration.

[0075] Both the first driving member 500 and the second driving member 600 are fixed to the first mounting housing 100. The first driving member 500 extends along the first direction X, the second driving member 600 extends along the second direction Y, and the first driving member 500 and the second driving member 600 are arranged in sequence in the third direction Z. Fixing both the first driving member 500 and the second driving member 600 to the first mounting housing 100 means that the first mounting housing 100 serves as the mounting carrier for the first driving member 500 and the second driving member 600, and the first mounting housing 100 can accommodate the first driving member 500 and the second driving member 600 when cooperating with the second mounting housing 200, simplifying the overall structure of the lower limb mechanism. And the first driving member 500 and the second driving member 600 extend along the first direction X and the second direction Y respectively and are arranged in sequence in the third direction Z, this layout makes the lower limb mechanism more compact in structure.

[0076] The lower limb mechanism further includes a first transmission component 700. A mounting seat 120 protrudes from the inner wall of the first mounting housing 100. A fixing ring 510 is sleeved on the first driving member 500. The fixing ring 510 is connected to the mounting seat 120. One end of the first transmission component 700 is rotatably connected to the support member 400, and the other end of the first transmission component 700 is inserted into the fixing ring 510 and connected to the first driving member 500. Through the first transmission component 700, the linkage between the first driving member 500 and the support member 400 is realized. Specifically, a mounting seat 120 protrudes from the inner wall of the first mounting housing 100 for fixing and supporting the first driving member 500. A fixing ring 510 is sleeved on the first driving member 500, and the fixing ring 510 is connected to the mounting seat 120, thus ensuring the stability and position accuracy of the first driving member 500. One end of the first transmission component 700 is rotatably connected to the support member 400, and the other end is inserted into the fixing ring 510 and connected to the first driving member 500, realizing the power transmission and motion conversion. The fixing ring 510 ensures that the first driving member 500 will not be displaced or shaken during operation, thereby improving the overall stability and reliability of the lower limb mechanism.

[0077] In one implementation, the second mounting shell 200 is provided with a through hole 210 that communicates the interior of the accommodating space 110 with the exterior of the accommodating space 110. The first transmission member 700 includes a first crank 710 and a first connecting rod 720. The first crank 710 is received in the accommodating space 110. One end of the first crank 710 is connected to the first driving member 500, and the other end of the first crank 710 is rotatably connected to one end of the first connecting rod 720. The other end of the first connecting rod 720 passes through the through hole 210 and is rotatably connected to the support member 400. There is a through hole 210 provided on the second mounting shell 200, and this through hole 210 is a passage connecting the interior and the exterior of the accommodating space 110. The first transmission member 700 in the lower limb mechanism is composed of a first crank 710 and a first connecting rod 720. The first crank 710 is received in the accommodating space 110, and one end of it is directly connected to the first driving member 500 for receiving the power from the first driving member 500. The other end of the first crank 710 is rotatably connected to one end of the first connecting rod 720, forming a hinge connection. The other end of the first connecting rod 720 passes through the through hole 210 on the second mounting shell 200 and is rotatably connected to the support member 400, thereby transmitting the power and motion to the support member 400.

[0078] The first transmission member 700 effectively transmits the power of the first driving member 500 to the support member 400 through the combination of the first crank 710 and the first connecting rod 720, realizing the rotation of the support member 400 relative to the first mounting shell 100 about the first axis A. Among them, the first crank 710 is received in the accommodating space 110 to make the structure of the lower limb mechanism more compact. By providing the through hole 210 on the second mounting shell 200, the first connecting rod 720 can directly pass through and be connected to the support member 400, and this design optimizes the transmission path and improves the transmission efficiency.

[0079] Reference Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 9, the fixed ring 510 is sleeved on the first crank 710. A first limiting portion 711 protrudes from a side surface of the first crank 710 close to the fixed ring 510. A limiting groove 511 is provided on a side surface of the fixed ring 510 close to the first crank 710. The first limiting portion 711 is arranged in the limiting groove 511. The limiting groove 511 is used to abut against the first limiting portion 711 to limit the rotation range of the first crank 710. Among them, the side surface of the first crank 710 close to the fixed ring 510 is the outer peripheral surface of the first crank 710, and the side surface of the fixed ring 510 close to the first crank 710 is the inner peripheral surface of the fixed ring 510. When the first crank 710 rotates under the drive of the first driving member 500, the first limiting portion 711 will move in the limiting groove 511, thereby limiting the rotation range of the first crank 710 to ensure stable transmission performance of the lower limb mechanism during movement and avoid damage caused by excessive rotation.

[0080] Specifically, the mounting seat 120 includes a first mounting portion 121 and a second mounting portion 122 arranged at intervals. An installation groove for accommodating the first driving member 500 is formed between the first mounting portion 121 and the second mounting portion 122. The fixed ring 510 is further provided with a first fixing portion 512 and a second fixing portion 513. The first fixing portion 512 is used to connect with the first mounting portion 121, and the second fixing portion 513 is used to connect with the second mounting portion 122. Among them, the first fixing portion 512 and the second fixing portion 513 are arranged in sequence in the circumferential direction of the fixed ring 510. The first mounting portion 121 and the second mounting portion 122 may be symmetrically arranged, and the first fixing portion 512 and the second fixing portion 513 may be symmetrically arranged to improve the mounting stability of the first driving member 500.

[0081] The limiting groove 511 is arranged between the first fixing portion 512 and the second fixing portion 513. The limiting groove 511 includes a first limiting plane 511a and a second limiting plane 511b arranged at intervals. Both the first limiting plane 511a and the second limiting plane 511b can abut against the first limiting portion 711. An included angle α exists between the first limiting plane 511a and the second limiting plane 511b. The first limiting portion 711 is arranged between the first limiting plane 511a and the second limiting plane 511b. By adjusting the size of the first limiting portion 711, it is convenient to control the rotation angle range of the first crank 710.

[0082] The range of the angle α between the first limiting plane 511a and the second limiting plane 511b is 85° to 95°, so as to prevent the first crank 710 from rotating excessively during movement, thereby avoiding structural damage or out-of-control movement caused by an overly large rotation range. For example, α can be 85°, 86°, 87°, 88°, 90°, 91°, 93°, 94°, 95°, etc., but is not limited to the listed values, and other unlisted values within the numerical range are equally applicable. When the angle α between the first limiting plane 511a and the second limiting plane 511b is greater than 95°, the first crank 710 will interfere with the internal structure of the first mounting shell 100. When the angle α between the first limiting plane 511a and the second limiting plane 511b is less than 85°, the rotation angle of the first connecting rod 720 is small, resulting in a small rotation angle of the support member 400 relative to the first mounting shell 100 around the first axis A, causing a small left or right inclination range of the foot part of the humanoid robot and limiting the movement range of the humanoid robot, with a poor humanoid effect.

[0083] The lower limb mechanism further includes a second transmission member 800. An installation hole 130 is provided on the first mounting shell 100. The installation hole 130 communicates with the inside and the outside of the accommodation space 110. The second driving member 600 is installed in the installation hole 130. One end of the second transmission member 800 is rotatably connected to the support member 400, and the other end of the second transmission member 800 is inserted into the installation hole 130 and connected to the second driving member 600. The installation hole 130 is a passage connecting the inside and the outside of the accommodation space 110, allowing the second transmission member 800 to pass through. One end of the second transmission member 800 is rotatably connected to the support member 400 for transmitting power and realizing motion conversion. The other end is inserted into the installation hole 130 and directly connected to the second driving member 600, thereby ensuring the effective transmission of power, enabling the support member 400 to rotate relative to the first mounting shell 100 around the second axis B, and thus realizing more complex and flexible motion. And the installation hole 130 is provided on the first mounting shell 100 to provide an installation space for the second driving member 600 and be able to position the installation position of the first driving member 500. At the same time, the setting of the installation hole 130 can allow the first transmission member 700 to extend out of the accommodation space 110 to be connected to the support member 400 to realize the transmission of power.

[0084] Reference Figure 3 、 Figure 4 、 Figure 5 、 Figure 10 and Figure 11, the lower limb mechanism further includes a cover body 900. The cover body 900 is connected to the first mounting shell 100 to enclose a first accommodation groove 910. The second transmission member 800 includes a second crank 810 and a second connecting rod 820. At least a part of the second crank 810 is received in the first accommodation groove 910. One end of the second crank 810 is connected to the second driving member 600, and the other end of the second crank 810 extends out of the first accommodation groove 910 and is rotatably connected to one end of the second connecting rod 820. The other end of the second connecting rod 820 is rotatably connected to the support member 400. The cover body 900 is connected to the first mounting shell 100 to jointly enclose a closed or semi-closed first accommodation groove 910, providing a more compact and protected working environment for the second transmission member 800. In terms of the second transmission member 800, it includes a second crank 810 and a second connecting rod 820. At least a part of the second crank 810 is received in the first accommodation groove 910. One end of it is directly connected to the second driving member 600 for receiving power. The other end extends out of the first accommodation groove 910 and is rotatably connected to one end of the second connecting rod 820. The other end of the second connecting rod 820 is rotatably connected to the support member 400, realizing the transmission of power and the conversion of motion.

[0085] The first accommodation groove 910 can accommodate at least a part of the second crank 810, reducing the exposed area of the second crank 810 and enhancing the aesthetic appearance of the lower limb mechanism, making the anthropomorphic effect of the lower limb mechanism better. The combination of the second crank 810 and the second connecting rod 820 realizes the effective transmission of power. The design of the first accommodation groove 910 makes the installation and maintenance of the second transmission member 800 more convenient. By opening or disassembling the cover body 900, the second transmission member 800 can be easily accessed for necessary maintenance or replacement work.

[0086] In one embodiment, a second limiting portion 140 is provided on a side surface of the first mounting shell 100 away from the second mounting shell 200. The second limiting portion 140 is located in the first accommodation groove 910 and is used to abut against the second crank 810 to limit the rotation range of the second crank 810. By providing the second limiting portion 140 on the first mounting shell 100 and the abutting relationship between the second limiting portion 140 and the second crank 810, the rotation range of the second crank 810 can be controlled. This helps prevent the second transmission member 800 from rotating excessively during movement, thus avoiding structural damage or loss of motion control caused by an overly large rotation range.

[0087] In this application, the cover body 900 is connected to the first mounting shell 100 to enclose a second receiving groove 920, and at least a part of the second connecting rod 820 is located within the second receiving groove 920 in the projection in the first direction X; the projection of the end of the second crank 810 connected to the second connecting rod 820 in the second direction Y is located within the second receiving groove 920. The cover body 900 is connected to the first mounting shell 100 to jointly enclose a second receiving groove 920, providing a more compact and orderly working environment for the second transmission component 800.

[0088] Specifically, at least a part of the second connecting rod 820 is located within the second receiving groove 920 in the projection in the first direction X, effectively restricting the movement of the second connecting rod 820 within the range of the second receiving groove 920 and making the structural layout of the lower limb mechanism more compact. At the same time, the projection of the end of the second crank 810 connected to the second connecting rod 820 in the second direction Y is also located within the second receiving groove 920, and the second receiving groove 920 provides a more stable and controllable movement environment for the second connecting rod 820 and the second crank 810. By restricting their movement ranges in specific directions, structural damage or performance degradation caused by out-of-control movement can be effectively prevented.

[0089] In an implementation manner, the support member 400 includes a first bracket 410 and a second bracket 420 arranged in sequence along the first direction X. The first mounting shell 100 is rotatably connected to the first bracket 410 through a first rotating shaft 411 and a second rotating shaft 412. The first rotating shaft 411 is perpendicular to the second rotating shaft 412. The second rotating shaft 412 extends along the second direction Y. The axis of the first rotating shaft 411 is coaxial with the first axis A, and the axis of the second rotating shaft 412 is coaxial with the second axis B. The first connecting rod 720 is rotatably connected to the second rotating shaft 412; a third rotating shaft 421 is provided on the second bracket 420. The third rotating shaft 421 extends along the second direction Y, and the second connecting rod 820 is rotatably connected to the third rotating shaft 421. The first mounting shell 100 is rotatably connected to the first bracket 410 through the first rotating shaft 411 and the second rotating shaft 412. Among them, the first rotating shaft 411 is perpendicular to the second rotating shaft 412, ensuring that the movements of the lower limb mechanism in the first direction X and the second direction Y can be independent of each other and do not interfere with each other.

[0090] The first mounting shell 100 is rotatably connected to the first bracket 410 through the first rotating shaft 411 and the second rotating shaft 412, enabling the support member 400 to rotate relative to the first mounting shell 100 around the first rotating shaft 411 and the second rotating shaft 412. When the lower limb mechanism is used for a humanoid robot, ankle joint movements such as the forward tilt, backward tilt, left tilt, and right tilt of the foot relative to the calf can be achieved. The second rotating shaft 412 extends along the second direction Y and is rotatably connected to the first connecting rod 720, which enables the first driving member 500 to directly drive the support member 400 to rotate around the first rotating shaft 411. Moreover, the second connecting rod 820 is rotatably connected to the third rotating shaft 421, enabling the second driving member 600 to directly drive the support member 400 to rotate around the second rotating shaft 412. The rotation of the support member 400 relative to the first mounting shell 100 around the first rotating shaft 411 and the second rotating shaft 412 can be independently controlled, thereby reducing the complexity of the overall control strategy of the lower limb mechanism. The control logics of the first driving mechanism and the second driving mechanism can be designed and optimized relatively independently, improving the decoupling of the control system of the lower limb mechanism.

[0091] Wherein, the first bracket 410 and the second bracket 420 are arranged in sequence along the first direction X, the second axis B extends along the second direction Y, and the second direction Y is perpendicular to the first direction X. The first bracket 410 and the second bracket 420 can be of a split structure, or the first bracket 410 and the second bracket 420 can be of an integral structure, without any limitation. The specific structures of the first bracket 410 and the second bracket 420 are not limited. Optionally, the first bracket 410 and the second bracket 420 are of a split structure, and the first bracket 410 and the second bracket 420 are spaced apart in the first direction X to prevent interference between the first transmission component 700 and the second transmission rod component during movement.

[0092] The first mounting shell 100 is connected to the first bracket 410 through the first rotating shaft 411 and the second rotating shaft 412. Driven by the first driving member 500 and the second driving member 600, the first mounting shell 100 can rotate relative to the support member 400 around the first rotating shaft 411 and the second rotating shaft 412, simplifying the structure of the lower limb mechanism and enabling more effective use of space. Moreover, the first connecting rod 720 is directly connected to the second rotating shaft 412, and the second connecting rod 820 is directly connected to the third rotating shaft 421, simplifying the transmission structure, reducing energy loss during the transmission process, and improving the transmission efficiency.

[0093] Among them, the first rotating shaft 411 and the second rotating shaft 412 can both be arranged on the first bracket 410 or the first mounting shell 100, or one of them can be arranged on the first bracket 410 and the other on the first mounting shell 100, without limitation. The first rotating shaft 411 can be fixed to the first mounting shell 100, the second rotating shaft 412 can rotate relative to the first bracket 410, and the first rotating shaft 411 and the second rotating shaft 412 can also rotate relative to both the first bracket 410 and the first mounting shell 100, all without limitation. At the position where relative rotation is possible, it can be a hole-shaft mating structure, or a bearing can be provided. The inner ring of the bearing is connected to the rotating shaft, and the outer ring of the bearing is connected to the first mounting shell 100 or the first bracket 410 to achieve relative rotation between the first mounting shell 100 and the first bracket 410. In this embodiment, the first mounting shell 100 and the first bracket 410 can rotate around both the first rotating shaft 411 and the second rotating shaft 412, so that the first mounting shell 100 can have two degrees of rotational freedom relative to the foot member.

[0094] Exemplarily, when the first mounting shell 100 and the first bracket 410 rotate relative to each other around the first rotating shaft 411, the left or right tilting movement of the first mounting shell 100 relative to the first bracket 410 can be achieved; when the first mounting shell 100 and the first bracket 410 rotate relative to each other around the second rotating shaft 412, the forward or backward tilting movement of the first mounting shell 100 relative to the first bracket 410 can be achieved.

[0095] Optionally, the first mounting shell 100 is rotatably connected to the first rotating shaft 411, the first bracket 410 is rotatably connected to the second rotating shaft 412, and the first rotating shaft 411 is fixedly connected to the second rotating shaft 412. This design simplifies the transmission structure, reduces the number of moving parts, thereby reducing the failure rate and maintenance cost. Since the first mounting shell 100 is rotatably connected to the first rotating shaft 411, the first rotating shaft 411 is fixedly connected to the second rotating shaft 412, and the first bracket 410 is rotatably connected to the second rotating shaft 412, this structure enables the lower limb mechanism to rotate flexibly in multiple directions, providing rich motion postures for the humanoid robot.

[0096] Similar to the aforementioned structure, the third rotating shaft 421 and the second bracket 420 can rotate relative to each other, or the third rotating shaft 421 is fixed to the second bracket 420. A hole-shaft fit or a bearing can be provided between the third rotating shaft 421 and the second bracket 420.

[0097] In one implementation, in the positive projection in the first direction X, the end of the second link 820 connected to the third rotating shaft 421 coincides with the first rotating shaft 411. By designing the connection point of the second link 820 and the third rotating shaft 421 on the positive projection of the first rotating shaft 411, when the second driving member 600 drives the support member 400 to rotate around the second rotating shaft 412, the support member 400 is more balanced in force and has good rotational stability.

[0098] In the lower limb mechanism provided by this application, between the first crank 710 and the first connecting rod 720, between the first connecting rod 720 and the second rotating shaft 412, between the second crank 810 and the second connecting rod 820, and between the second connecting rod 820 and the third rotating shaft 421, they are all connected through spherical plain bearings. The design of the spherical plain bearings not only improves the connection stability and durability, but also makes the connection more flexible, capable of adapting to various complex motion requirements.

[0099] Among them, the first mounting shell 100 includes a first shell 150 and a second shell 160 that are detachably connected. The first rotating shaft 411 is located between the first shell 150 and the second shell 160. One end of the first rotating shaft 411 is rotatably connected to the first shell 150, and the other end of the first rotating shaft 411 is rotatably connected to the second shell 160. By designing the first mounting shell 100 as a first shell 150 and a second shell 160 that are detachably connected, and both ends of the first rotating shaft 411 are connected to the first shell 150 and the second shell 160 respectively, the installation and maintenance of the lower limb mechanism become more convenient. And the first rotating shaft 411 is arranged between the first shell 150 and the second shell 160, that is, the first rotating shaft 411 can be accommodated by the first shell 150 and the second shell 160, making the structure of the entire lower limb mechanism more compact and further improving the aesthetics of the lower limb mechanism.

[0100] Reference Figure 9 、 Figure 10 and Figure 12 , the third mounting shell 300 includes a third shell 310 and a fourth shell 320 that are detachably connected. The third shell 310 and the fourth shell 320 enclose a first wire passing hole 330. The third shell 310 is provided with a third receiving groove 311 and a second wire passing hole 312. The first wire passing hole 330, the second wire passing hole 312, and the third receiving groove 311 are communicated in sequence. The third receiving groove 311 is arranged between the third shell 310 and the fourth shell 320. One end of the third shell 310 is used for rotatably connecting with the waist-hip mechanism, and the other end of the third shell 310 is rotatably connected to the end of the first mounting shell 100 away from the support member 400. The third receiving groove 311 is used for accommodating a third driving member (not shown) that drives the relative rotation of the third shell 310 and the first mounting shell 100, so as to make the structure of the lower limb mechanism more compact and beautiful.

[0101] In the embodiment of this application, the power supply device of the humanoid robot is arranged on the torso mechanism. The power supply device supplies power to the first driving member 500, the second driving member 600, and the third driving member through a wire harness. The wire harness can be connected to the third driving member through the first wire passing hole 330 and the second wire passing hole 312 to realize the power supply of the third driving member.

[0102] Among them, a third wire passing hole 313, a fourth wire passing hole 314 and a fifth wire passing hole 315 which are sequentially communicated are further arranged on the third housing 310, and the third wire passing hole 313 is communicated with the third receiving groove 311. A sixth wire passing hole 151 and a wire routing groove 152 are arranged on the first mounting housing 100. The wire routing groove 152 is communicated with the sixth wire passing hole 151 and the receiving space 110. The sixth wire passing hole 151 and the fifth wire passing hole 315 can be matched through a hinge shaft to realize the rotational connection between the first mounting housing 100 and the third mounting housing 300. The wire harness led out from the third driving member sequentially passes through the third wire passing hole 313, the fourth wire passing hole 314, the fifth wire passing hole 315, the sixth wire passing hole 151 and the wire routing groove 152 and enters the receiving space 110, so as to realize the connection between the wire harness and the first driving member 500 and the second driving member 600. This design can house the wire harness in the first mounting housing 100, the second mounting housing 200 and the third mounting housing 300, reduce the external leakage of the wire harness, and improve the aesthetic degree of the humanoid robot.

[0103] A first baffle 153 and a first connecting portion 154 are arranged on the first mounting housing 100, a second baffle 220 and a second connecting portion 230 are arranged on the second mounting housing 200. Both the first connecting portion 154 and the second connecting portion 230 are used for connecting with the third mounting housing 300. The first baffle 153 and the second baffle 220 are abutted against each other to separate the first connecting portion 154 and the second connecting portion 230 from the receiving space 110, reduce the interference with the first driving member 500 and the second driving member 600 housed in the receiving space 110, and improve the stability of the driving of the lower limb mechanism. The wire routing groove 152 penetrates through the first baffle 153 so that the wire harness can enter the receiving space 110 to supply power to the first driving member 500 and the second driving member 600.

[0104] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is the orientation or positional relationship based on the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application.

[0105] The above-disclosed is only a preferred embodiment of the present application. Of course, the scope of the rights of the present application cannot be limited thereby. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, and the equivalent changes made according to the claims of the present application still fall within the scope covered by the present application.

Claims

1. A lower limb mechanism, characterized in that: For a humanoid robot, the lower limb mechanism comprises: A first installation shell (100), wherein the outer surface of the first installation shell (100) is a smooth curved surface; a second mounting shell (200), wherein the outer surface of the second mounting shell (200) is a smooth curved surface, the second mounting shell (200) is smoothly transitionally connected to the first mounting shell (100), and the second mounting shell (200) and the first mounting shell (100) enclose a receiving space (110); a through hole (210) is provided on the second mounting shell (200), and the through hole (210) communicates the interior of the receiving space (110) with the exterior of the receiving space (110); A support member (400) is rotatably connected to one end of the first installation shell (100), and the support member (400) and the second installation shell (200) are arranged at a distance; a first driving member (500) received in the accommodating space (110) and fixed to the first mounting shell (100), the first driving member (500) being used to drive the supporting member (400) to rotate relative to the first mounting shell (100) around a first axis (A); a second driving member (600) received in the accommodating space (110) and fixed to the first mounting shell (100), the second driving member (600) being used to drive the supporting member (400) to rotate relative to the first mounting shell (100) around a second axis (B), the second axis (B) intersecting the first axis (A); and A first transmission component (700), one end of the first transmission component (700) being rotatably connected to the support component (400), and the other end of the first transmission component (700) passing through the through hole (210) and being connected to the first driving component (500).

2. The lower limb mechanism according to claim 1, characterized in that: The front-to-back direction of the humanoid robot is a first direction (X), the left-to-right direction of the humanoid robot is a second direction (Y), and the height direction of the humanoid robot is a third direction (Z); The first driving member (500) and the second driving member (600) are both fixed to the first mounting shell (100); the first driving member (500) extends along the first direction (X), the second driving member (600) extends along the second direction (Y), and the first driving member (500) and the second driving member (600) are arranged in sequence in the third direction (Z).

3. The lower limb mechanism according to claim 1, characterized in that: A mounting seat (120) is convexly provided on the inner wall of the first mounting shell (100), a fixing ring (510) is sleeved on the first driving member (500), the fixing ring (510) is connected to the mounting seat (120), and the other end of the first transmission member (700) is inserted into the fixing ring (510) and connected to the first driving member (500).

4. The lower limb mechanism according to claim 3, characterized in that: The first transmission component (700) comprises a first crank (710) and a first connecting rod (720); the first crank (710) is received in the accommodating space (110); one end of the first crank (710) is connected to the first driving member (500); the other end of the first crank (710) is rotatably connected to one end of the first connecting rod (720); the other end of the first connecting rod (720) passes through the through hole (210) and is rotatably connected to the supporting member (400).

5. The lower limb mechanism according to claim 4, characterized in that: The fixing ring (510) is sleeved on the first crank (710); a first limiting portion (711) is convexly provided on a side surface of the first crank (710) close to the fixing ring (510); a limiting groove (511) is provided on a side surface of the fixing ring (510) close to the first crank (710); the first limiting portion (711) is arranged in the limiting groove (511); and the limiting groove (511) is used to abut against the first limiting portion (711) to limit the rotation range of the first crank (710).

6. The lower limb mechanism according to claim 4, characterized in that: The lower limb mechanism further comprises a second transmission component (800), a mounting hole (130) is provided on the first mounting shell (100), the mounting hole (130) communicates the interior of the accommodating space (110) with the exterior of the accommodating space (110), the second driving member (600) is mounted on the mounting hole (130), one end of the second transmission component (800) is rotatably connected to the support member (400), and the other end of the second transmission component (800) is inserted into the mounting hole (130) and connected to the second driving member (600).

7. The lower limb mechanism according to claim 6, characterized in that: The lower limb mechanism further comprises a cover body (900), wherein the cover body (900) is connected to the first mounting shell (100) to form a first accommodating groove (910); The second transmission component (800) comprises a second crank (810) and a second connecting rod (820), wherein at least a portion of the second crank (810) is received in the first receiving groove (910), one end of the second crank (810) is connected to the second driving member (600), the other end of the second crank (810) extends out of the first receiving groove (910) and is rotatably connected to one end of the second connecting rod (820), and the other end of the second connecting rod (820) is rotatably connected to the support member (400).

8. The lower limb mechanism according to claim 7, characterized in that: A second limiting portion (140) is provided on a side surface of the first mounting shell (100) away from the second mounting shell (200), the second limiting portion (140) being located in the first accommodating groove (910), and the second limiting portion (140) being used to abut against the second crank (810) to limit the rotation range of the second crank (810).

9. The lower limb mechanism according to claim 7, characterized in that: The front-to-back direction of the humanoid robot is a first direction (X), the left-to-right direction of the humanoid robot is a second direction (Y), and the cover body (900) is connected to the first mounting shell (100) to form a second accommodating groove (920); A projection of at least part of the second connecting rod (820) in the first direction (X) is located in the second accommodating groove (920); The projection of one end of the second crank (810) connected to the second connecting rod (820) in the second direction (Y) is located within the second accommodating groove (920).

10. The lower limb mechanism according to claim 9, characterized in that: The front-to-back direction of the humanoid robot is a first direction (X), and the left-to-right direction of the humanoid robot is a second direction (Y); The support member (400) comprises a first bracket (410) and a second bracket (420) which are sequentially arranged along the first direction (X); the first mounting shell (100) is rotatably connected to the first bracket (410) via a first rotating shaft (411) and a second rotating shaft (412); the first rotating shaft (411) is perpendicular to the second rotating shaft (412); the second rotating shaft (412) extends along the second direction (Y); the axis of the first rotating shaft (411) is coaxial with the first axis (A); the axis of the second rotating shaft (412) is coaxial with the second axis (B); and the first connecting rod (720) is rotatably connected to the second rotating shaft (412); A third rotating shaft (421) is provided on the second bracket (420), the third rotating shaft (421) extends along the second direction (Y), and the second connecting rod (820) is rotatably connected to the third rotating shaft (421).

11. The lower limb mechanism according to claim 10, characterized in that: In the orthographic projection of the first direction (X), one end of the second connecting rod (820) connected to the third rotating shaft (421) coincides with the first rotating shaft (411).

12. The lower limb mechanism according to claim 10, characterized in that: The first mounting shell (100) comprises a first shell (150) and a second shell (160) which are detachably connected, the first rotating shaft (411) being located between the first shell (150) and the second shell (160), one end of the first rotating shaft (411) being rotatably connected to the first shell (150), and the other end of the first rotating shaft (411) being rotatably connected to the second shell (160).

13. A humanoid robot, characterized in that: Comprising a lower limb mechanism as described in any one of claims 1 to 12.

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